====== Reeds Shepp Path Library

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Overview

The library implements the analytic Reeds Shepp path between two SE2 configurations. Reeds Sheep path [1]_ is defined as the shortest traveling path of the Reeds-Shepp Car, a car that can go both forward and backward with a constrained turning radius. Reeds-Sheep path can be viewed as a generalized version of Dubins path <http://planning.cs.uiuc.edu/node821.html>_.

The primary C++ source code comes from Open Motion Planning Library <http://ompl.kavrakilab.org/ReedsSheppStateSpace_8cpp_source.html>_ (OMPL). And the API of Python version (primarily a Cython wrapper) is similar to the Dubins library <https://github.com/AndrewWalker/pydubins>_ from Andrew Walker.

More descriptions can be referred to the OMPL <http://ompl.kavrakilab.org/2012/03/18/geometric-planning-for-car-like-vehicles.html>_ and section 15.3.2 of the book Planning Algorithms <http://planning.cs.uiuc.edu/node822.html>_.

Installation

Install from source

.. code-block:: console

$ sudo python setup.py install

Demo

.. code-block:: console

$ python demos/demo.py

.. image:: fig/demo.png :width: 800px :align: center :height: 600px :alt: alternate text

API

• path_length( q0, q1, turning_radius)

  • return total length of Reed Shepps curve from q0 to q1 with specified turning radius

• path_sample( q0, q1, turning_radius, step_size)

  • return list of tuple (x,y,theta) uniformly sampled from corresponding Reed Shepps curve

• path_type( q0, q1, turning_radius)

  • return the tuple of path segment type for the Reed Sheps curve from q0 to q1 with specified turning radius

TODO

• PyPI install

• cpp/python demo

References

.. [1] Reeds, J., & Shepp, L. (1990). Optimal paths for a car that goes both forwards and backwards. Pacific journal of mathematics, 145(2), 367-393.

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